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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#pragma once</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#include &quot;utils.h&quot;</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &quot;ydlidar_driver.h&quot;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;math.h&gt;</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;SimpleIni.h&gt;</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="keyword">using namespace </span><a class="code" href="namespaceydlidar.html">ydlidar</a>;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;</div><div class="line"><a name="l00010"></a><span class="lineno"><a class="line" href="class_c_yd_lidar.html">   10</a></span>&#160;<span class="keyword">class </span>YDLIDAR_API <a class="code" href="class_c_yd_lidar.html">CYdLidar</a> {</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;  PropertyBuilderByName(<span class="keywordtype">float</span>, MaxRange, <span class="keyword">private</span>) </div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;  PropertyBuilderByName(<span class="keywordtype">float</span>, MinRange, <span class="keyword">private</span>) </div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;  PropertyBuilderByName(<span class="keywordtype">float</span>, MaxAngle,</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;                        <span class="keyword">private</span>) </div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  PropertyBuilderByName(<span class="keywordtype">float</span>, MinAngle,</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;                        <span class="keyword">private</span>) </div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  PropertyBuilderByName(<span class="keywordtype">float</span>, ScanFrequency,</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;                        <span class="keyword">private</span>) </div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  PropertyBuilderByName(<span class="keywordtype">bool</span>, Intensities,</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;                        <span class="keyword">private</span>) </div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  PropertyBuilderByName(<span class="keywordtype">bool</span>, FixedResolution,</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;                        <span class="keyword">private</span>) </div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  PropertyBuilderByName(<span class="keywordtype">bool</span>, Reversion, <span class="keyword">private</span>) </div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  PropertyBuilderByName(<span class="keywordtype">bool</span>, AutoReconnect, <span class="keyword">private</span>) </div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  PropertyBuilderByName(<span class="keywordtype">bool</span>, GlassNoise, <span class="keyword">private</span>) </div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  PropertyBuilderByName(<span class="keywordtype">bool</span>, SunNoise, <span class="keyword">private</span>) </div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  PropertyBuilderByName(<span class="keywordtype">int</span>, SerialBaudrate, <span class="keyword">private</span>) </div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  PropertyBuilderByName(<span class="keywordtype">int</span>, SampleRate, <span class="keyword">private</span>) </div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  PropertyBuilderByName(std::string, CalibrationFileName, <span class="keyword">private</span>) </div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  PropertyBuilderByName(std::string, SerialPort, <span class="keyword">private</span>) </div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  PropertyBuilderByName(std::vector&lt;float&gt;, IgnoreArray, <span class="keyword">private</span>) </div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160; <span class="keyword">public</span>:</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  <a class="code" href="class_c_yd_lidar.html">CYdLidar</a>(); </div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <span class="keyword">virtual</span> ~<a class="code" href="class_c_yd_lidar.html">CYdLidar</a>();  </div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <span class="keywordtype">bool</span> initialize();  </div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  <span class="comment">// Return true if laser data acquistion succeeds, If it&#39;s not</span></div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <span class="keywordtype">bool</span> doProcessSimple(<a class="code" href="struct_laser_scan.html">LaserScan</a> &amp;outscan, <span class="keywordtype">bool</span> &amp;hardwareError);</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="comment">//Turn on the motor enable</span></div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="keywordtype">bool</span>  turnOn();  </div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="comment">//Turn off the motor enable and close the scan</span></div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="keywordtype">bool</span>  turnOff(); </div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="comment">//Turn off lidar connection</span></div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keywordtype">void</span> disconnecting(); </div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; <span class="keyword">protected</span>:</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keywordtype">bool</span>  checkCOMMs();</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="keywordtype">bool</span>  checkStatus();</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="keywordtype">bool</span> checkHardware();</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="keywordtype">void</span> checkCalibrationAngle(<span class="keyword">const</span> std::string &amp;serialNumber);</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <span class="keywordtype">bool</span> getDeviceHealth();</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="keywordtype">bool</span> getDeviceInfo();</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  <span class="keywordtype">bool</span> checkScanFrequency();</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; <span class="keyword">private</span>:</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="keywordtype">bool</span>    isScanning;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="keywordtype">int</span>     node_counts ;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="keywordtype">double</span>  each_angle;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="keywordtype">float</span>   frequencyOffset;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <span class="keywordtype">float</span>   m_AngleOffset;</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  uint8_t Major;</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  uint8_t Minjor;</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <a class="code" href="class_c_simple_ini_templ.html">CSimpleIniA</a> ini;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <a class="code" href="classydlidar_1_1_y_dlidar_driver.html">YDlidarDriver</a> *lidarPtr;</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;};  <span class="comment">// End of class</span></div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;</div><div class="ttc" id="namespaceydlidar_html"><div class="ttname"><a href="namespaceydlidar.html">ydlidar</a></div><div class="ttdef"><b>Definition:</b> v8stdint.h:204</div></div>
<div class="ttc" id="class_c_simple_ini_templ_html"><div class="ttname"><a href="class_c_simple_ini_templ.html">CSimpleIniTempl&lt; char, SI_NoCase&lt; char &gt;, SI_ConvertA&lt; char &gt; &gt;</a></div></div>
<div class="ttc" id="struct_laser_scan_html"><div class="ttname"><a href="struct_laser_scan.html">LaserScan</a></div><div class="ttdef"><b>Definition:</b> ydlidar_protocol.h:225</div></div>
<div class="ttc" id="classydlidar_1_1_y_dlidar_driver_html"><div class="ttname"><a href="classydlidar_1_1_y_dlidar_driver.html">ydlidar::YDlidarDriver</a></div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:26</div></div>
<div class="ttc" id="class_c_yd_lidar_html"><div class="ttname"><a href="class_c_yd_lidar.html">CYdLidar</a></div><div class="ttdef"><b>Definition:</b> CYdLidar.h:10</div></div>
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